clear && roslaunch mall_robo_gym mir100_greedy_1.launch
Without obstacles (10 episodes)
With obstacles (10 episodes)
clear && roslaunch mall_robo_gym mir100_rl_1.launch
Test the training outcome
clear && roslaunch mall_robo_gym mir100_rl_test.launch
Path to change the time of controller_patience and planner_patience
cd ~/mir100RL_ws/src/mir_robot/mir_navigation/config/move_base_common_params.yaml
- controller_patience: 15.0 # if the controller failed, clear obstacles and retry; after 15.0 s, abort and replan
- planner_patience: 5.0 # if the first planning attempt failed, abort planning retries after 5.0 s
Map of 3d environment (1435 m2)
Legend for waypoints in gazebo
- Blue sphere: those waypoints that have not been visited yet
- Green sphere: those waypoints that have been visited
- Red sphere: the waypoint that the robot is currently heading to
Without obstacles (1000 episodes)
- The minimum time for the [mir100_rl_1] to complete the task is ๏ผ seconds in episode <> with reward ()!
- Overall time of training: min
- Training time per episode: min
With obstacles (1000 episodes)
Without obstacles (1000 episodes)
With obstacles (1000 episodes)
Without obstacles (10 episodes)
With obstacles (10 episodes)